From 6b6c349cfa02486c25639fdc09d343145e8da899 Mon Sep 17 00:00:00 2001
From: Sébastien Crozet <sebcrozet@dimforge.com>
Date: Fri, 1 Mar 2024 20:18:19 +0100
Subject: Fix testbed snapshot restore system

---
 src_testbed/physics/mod.rs | 16 +++++++++++++++-
 src_testbed/testbed.rs     | 33 +++++++++++++++++++++++++++------
 2 files changed, 42 insertions(+), 7 deletions(-)

(limited to 'src_testbed')

diff --git a/src_testbed/physics/mod.rs b/src_testbed/physics/mod.rs
index 26a55c7..bc00327 100644
--- a/src_testbed/physics/mod.rs
+++ b/src_testbed/physics/mod.rs
@@ -14,6 +14,8 @@ pub struct PhysicsSnapshot {
     bodies: Vec<u8>,
     colliders: Vec<u8>,
     impulse_joints: Vec<u8>,
+    multibody_joints: Vec<u8>,
+    island_manager: Vec<u8>,
 }
 
 impl PhysicsSnapshot {
@@ -21,17 +23,21 @@ impl PhysicsSnapshot {
         timestep_id: usize,
         broad_phase: &BroadPhase,
         narrow_phase: &NarrowPhase,
+        island_manager: &IslandManager,
         bodies: &RigidBodySet,
         colliders: &ColliderSet,
         impulse_joints: &ImpulseJointSet,
+        multibody_joints: &MultibodyJointSet,
     ) -> bincode::Result<Self> {
         Ok(Self {
             timestep_id,
             broad_phase: bincode::serialize(broad_phase)?,
             narrow_phase: bincode::serialize(narrow_phase)?,
+            island_manager: bincode::serialize(island_manager)?,
             bodies: bincode::serialize(bodies)?,
             colliders: bincode::serialize(colliders)?,
             impulse_joints: bincode::serialize(impulse_joints)?,
+            multibody_joints: bincode::serialize(multibody_joints)?,
         })
     }
 
@@ -41,32 +47,40 @@ impl PhysicsSnapshot {
         usize,
         BroadPhase,
         NarrowPhase,
+        IslandManager,
         RigidBodySet,
         ColliderSet,
         ImpulseJointSet,
+        MultibodyJointSet,
     )> {
         Ok((
             self.timestep_id,
             bincode::deserialize(&self.broad_phase)?,
             bincode::deserialize(&self.narrow_phase)?,
+            bincode::deserialize(&self.island_manager)?,
             bincode::deserialize(&self.bodies)?,
             bincode::deserialize(&self.colliders)?,
             bincode::deserialize(&self.impulse_joints)?,
+            bincode::deserialize(&self.multibody_joints)?,
         ))
     }
 
     pub fn print_snapshot_len(&self) {
         let total = self.broad_phase.len()
             + self.narrow_phase.len()
+            + self.island_manager.len()
             + self.bodies.len()
             + self.colliders.len()
-            + self.impulse_joints.len();
+            + self.impulse_joints.len()
+            + self.multibody_joints.len();
         println!("Snapshot length: {}B", total);
         println!("|_ broad_phase: {}B", self.broad_phase.len());
         println!("|_ narrow_phase: {}B", self.narrow_phase.len());
+        println!("|_ island_manager: {}B", self.island_manager.len());
         println!("|_ bodies: {}B", self.bodies.len());
         println!("|_ colliders: {}B", self.colliders.len());
         println!("|_ impulse_joints: {}B", self.impulse_joints.len());
+        println!("|_ multibody_joints: {}B", self.multibody_joints.len());
     }
 }
 
diff --git a/src_testbed/testbed.rs b/src_testbed/testbed.rs
index e5a5f13..5430384 100644
--- a/src_testbed/testbed.rs
+++ b/src_testbed/testbed.rs
@@ -24,7 +24,7 @@ use rapier::dynamics::{
 use rapier::geometry::Ray;
 use rapier::geometry::{ColliderHandle, ColliderSet, NarrowPhase};
 use rapier::math::{Real, Vector};
-use rapier::pipeline::{PhysicsHooks, QueryFilter};
+use rapier::pipeline::{PhysicsHooks, QueryFilter, QueryPipeline};
 
 #[cfg(all(feature = "dim2", feature = "other-backends"))]
 use crate::box2d_backend::Box2dWorld;
@@ -1250,9 +1250,11 @@ fn update_testbed(
                 harness.state.timestep_id,
                 &harness.physics.broad_phase,
                 &harness.physics.narrow_phase,
+                &harness.physics.islands,
                 &harness.physics.bodies,
                 &harness.physics.colliders,
                 &harness.physics.impulse_joints,
+                &harness.physics.multibody_joints,
             )
             .ok();
 
@@ -1269,17 +1271,36 @@ fn update_testbed(
                 .action_flags
                 .set(TestbedActionFlags::RESTORE_SNAPSHOT, false);
             if let Some(snapshot) = &state.snapshot {
-                if let Ok(w) = snapshot.restore() {
+                if let Ok((
+                    timestep_id,
+                    broad_phase,
+                    narrow_phase,
+                    island_manager,
+                    bodies,
+                    colliders,
+                    impulse_joints,
+                    multibody_joints,
+                )) = snapshot.restore()
+                {
                     clear(&mut commands, &mut state, &mut graphics, &mut plugins);
 
                     for plugin in &mut plugins.0 {
                         plugin.clear_graphics(&mut graphics, &mut commands);
                     }
 
-                    // set_world(w.3, w.4, w.5);
-                    harness.physics.broad_phase = w.1;
-                    harness.physics.narrow_phase = w.2;
-                    harness.state.timestep_id = w.0;
+                    harness.state.timestep_id = timestep_id;
+                    harness.physics.broad_phase = broad_phase;
+                    harness.physics.narrow_phase = narrow_phase;
+                    harness.physics.islands = island_manager;
+                    harness.physics.bodies = bodies;
+                    harness.physics.colliders = colliders;
+                    harness.physics.impulse_joints = impulse_joints;
+                    harness.physics.multibody_joints = multibody_joints;
+                    harness.physics.query_pipeline = QueryPipeline::new();
+
+                    state
+                        .action_flags
+                        .set(TestbedActionFlags::RESET_WORLD_GRAPHICS, true);
                 }
             }
         }
-- 
cgit 


From f9663f894c022e25ae6c6bc572dc305fab1adb76 Mon Sep 17 00:00:00 2001
From: Sébastien Crozet <sebcrozet@dimforge.com>
Date: Sat, 23 Mar 2024 10:25:56 +0100
Subject: chore: clippy fix

---
 src_testbed/physics/mod.rs | 44 ++++++++++++++++++++++----------------------
 src_testbed/testbed.rs     |  6 +++---
 2 files changed, 25 insertions(+), 25 deletions(-)

(limited to 'src_testbed')

diff --git a/src_testbed/physics/mod.rs b/src_testbed/physics/mod.rs
index bc00327..c3b750f 100644
--- a/src_testbed/physics/mod.rs
+++ b/src_testbed/physics/mod.rs
@@ -18,6 +18,17 @@ pub struct PhysicsSnapshot {
     island_manager: Vec<u8>,
 }
 
+pub struct DeserializedPhysicsSnapshot {
+    pub timestep_id: usize,
+    pub broad_phase: BroadPhase,
+    pub narrow_phase: NarrowPhase,
+    pub island_manager: IslandManager,
+    pub bodies: RigidBodySet,
+    pub colliders: ColliderSet,
+    pub impulse_joints: ImpulseJointSet,
+    pub multibody_joints: MultibodyJointSet,
+}
+
 impl PhysicsSnapshot {
     pub fn new(
         timestep_id: usize,
@@ -41,28 +52,17 @@ impl PhysicsSnapshot {
         })
     }
 
-    pub fn restore(
-        &self,
-    ) -> bincode::Result<(
-        usize,
-        BroadPhase,
-        NarrowPhase,
-        IslandManager,
-        RigidBodySet,
-        ColliderSet,
-        ImpulseJointSet,
-        MultibodyJointSet,
-    )> {
-        Ok((
-            self.timestep_id,
-            bincode::deserialize(&self.broad_phase)?,
-            bincode::deserialize(&self.narrow_phase)?,
-            bincode::deserialize(&self.island_manager)?,
-            bincode::deserialize(&self.bodies)?,
-            bincode::deserialize(&self.colliders)?,
-            bincode::deserialize(&self.impulse_joints)?,
-            bincode::deserialize(&self.multibody_joints)?,
-        ))
+    pub fn restore(&self) -> bincode::Result<DeserializedPhysicsSnapshot> {
+        Ok(DeserializedPhysicsSnapshot {
+            timestep_id: self.timestep_id,
+            broad_phase: bincode::deserialize(&self.broad_phase)?,
+            narrow_phase: bincode::deserialize(&self.narrow_phase)?,
+            island_manager: bincode::deserialize(&self.island_manager)?,
+            bodies: bincode::deserialize(&self.bodies)?,
+            colliders: bincode::deserialize(&self.colliders)?,
+            impulse_joints: bincode::deserialize(&self.impulse_joints)?,
+            multibody_joints: bincode::deserialize(&self.multibody_joints)?,
+        })
     }
 
     pub fn print_snapshot_len(&self) {
diff --git a/src_testbed/testbed.rs b/src_testbed/testbed.rs
index 5430384..780e23e 100644
--- a/src_testbed/testbed.rs
+++ b/src_testbed/testbed.rs
@@ -7,7 +7,7 @@ use std::num::NonZeroUsize;
 use bevy::prelude::*;
 
 use crate::debug_render::{DebugRenderPipelineResource, RapierDebugRenderPlugin};
-use crate::physics::{PhysicsEvents, PhysicsSnapshot, PhysicsState};
+use crate::physics::{DeserializedPhysicsSnapshot, PhysicsEvents, PhysicsSnapshot, PhysicsState};
 use crate::plugin::TestbedPlugin;
 use crate::ui;
 use crate::{graphics::GraphicsManager, harness::RunState};
@@ -1271,7 +1271,7 @@ fn update_testbed(
                 .action_flags
                 .set(TestbedActionFlags::RESTORE_SNAPSHOT, false);
             if let Some(snapshot) = &state.snapshot {
-                if let Ok((
+                if let Ok(DeserializedPhysicsSnapshot {
                     timestep_id,
                     broad_phase,
                     narrow_phase,
@@ -1280,7 +1280,7 @@ fn update_testbed(
                     colliders,
                     impulse_joints,
                     multibody_joints,
-                )) = snapshot.restore()
+                }) = snapshot.restore()
                 {
                     clear(&mut commands, &mut state, &mut graphics, &mut plugins);
 
-- 
cgit 


From cfb2c2c93e39e1f59557c4f32fde4a68dc4cd6fc Mon Sep 17 00:00:00 2001
From: Sébastien Crozet <sebcrozet@dimforge.com>
Date: Sat, 23 Mar 2024 13:26:53 +0100
Subject: feat!: rename BroadPhase to BroadPhaseMultiSap

---
 src_testbed/harness/mod.rs |  4 ++--
 src_testbed/physics/mod.rs | 12 +++++++-----
 2 files changed, 9 insertions(+), 7 deletions(-)

(limited to 'src_testbed')

diff --git a/src_testbed/harness/mod.rs b/src_testbed/harness/mod.rs
index e27a03a..458f02f 100644
--- a/src_testbed/harness/mod.rs
+++ b/src_testbed/harness/mod.rs
@@ -9,7 +9,7 @@ use rapier::dynamics::{
     CCDSolver, ImpulseJointSet, IntegrationParameters, IslandManager, MultibodyJointSet,
     RigidBodySet,
 };
-use rapier::geometry::{BroadPhase, ColliderSet, NarrowPhase};
+use rapier::geometry::{BroadPhaseMultiSap, ColliderSet, NarrowPhase};
 use rapier::math::{Real, Vector};
 use rapier::pipeline::{ChannelEventCollector, PhysicsHooks, PhysicsPipeline, QueryPipeline};
 
@@ -179,7 +179,7 @@ impl Harness {
         self.physics.hooks = Box::new(hooks);
 
         self.physics.islands = IslandManager::new();
-        self.physics.broad_phase = BroadPhase::new();
+        self.physics.broad_phase = BroadPhaseMultiSap::new();
         self.physics.narrow_phase = NarrowPhase::new();
         self.state.timestep_id = 0;
         self.state.time = 0.0;
diff --git a/src_testbed/physics/mod.rs b/src_testbed/physics/mod.rs
index c3b750f..38c9da0 100644
--- a/src_testbed/physics/mod.rs
+++ b/src_testbed/physics/mod.rs
@@ -3,7 +3,9 @@ use rapier::dynamics::{
     CCDSolver, ImpulseJointSet, IntegrationParameters, IslandManager, MultibodyJointSet,
     RigidBodySet,
 };
-use rapier::geometry::{BroadPhase, ColliderSet, CollisionEvent, ContactForceEvent, NarrowPhase};
+use rapier::geometry::{
+    BroadPhaseMultiSap, ColliderSet, CollisionEvent, ContactForceEvent, NarrowPhase,
+};
 use rapier::math::{Real, Vector};
 use rapier::pipeline::{PhysicsHooks, PhysicsPipeline, QueryPipeline};
 
@@ -20,7 +22,7 @@ pub struct PhysicsSnapshot {
 
 pub struct DeserializedPhysicsSnapshot {
     pub timestep_id: usize,
-    pub broad_phase: BroadPhase,
+    pub broad_phase: BroadPhaseMultiSap,
     pub narrow_phase: NarrowPhase,
     pub island_manager: IslandManager,
     pub bodies: RigidBodySet,
@@ -32,7 +34,7 @@ pub struct DeserializedPhysicsSnapshot {
 impl PhysicsSnapshot {
     pub fn new(
         timestep_id: usize,
-        broad_phase: &BroadPhase,
+        broad_phase: &BroadPhaseMultiSap,
         narrow_phase: &NarrowPhase,
         island_manager: &IslandManager,
         bodies: &RigidBodySet,
@@ -86,7 +88,7 @@ impl PhysicsSnapshot {
 
 pub struct PhysicsState {
     pub islands: IslandManager,
-    pub broad_phase: BroadPhase,
+    pub broad_phase: BroadPhaseMultiSap,
     pub narrow_phase: NarrowPhase,
     pub bodies: RigidBodySet,
     pub colliders: ColliderSet,
@@ -110,7 +112,7 @@ impl PhysicsState {
     pub fn new() -> Self {
         Self {
             islands: IslandManager::new(),
-            broad_phase: BroadPhase::new(),
+            broad_phase: BroadPhaseMultiSap::new(),
             narrow_phase: NarrowPhase::new(),
             bodies: RigidBodySet::new(),
             colliders: ColliderSet::new(),
-- 
cgit 


From b3a00b4123c85d047b5ab6b89d4d500cc2b92ba6 Mon Sep 17 00:00:00 2001
From: Sébastien Crozet <sebcrozet@dimforge.com>
Date: Sat, 23 Mar 2024 14:47:05 +0100
Subject: feat: add the DefaultBroadPhase type alias

---
 src_testbed/harness/mod.rs |  4 ++--
 src_testbed/physics/mod.rs | 10 +++++-----
 2 files changed, 7 insertions(+), 7 deletions(-)

(limited to 'src_testbed')

diff --git a/src_testbed/harness/mod.rs b/src_testbed/harness/mod.rs
index 458f02f..9c41472 100644
--- a/src_testbed/harness/mod.rs
+++ b/src_testbed/harness/mod.rs
@@ -9,7 +9,7 @@ use rapier::dynamics::{
     CCDSolver, ImpulseJointSet, IntegrationParameters, IslandManager, MultibodyJointSet,
     RigidBodySet,
 };
-use rapier::geometry::{BroadPhaseMultiSap, ColliderSet, NarrowPhase};
+use rapier::geometry::{ColliderSet, DefaultBroadPhase, NarrowPhase};
 use rapier::math::{Real, Vector};
 use rapier::pipeline::{ChannelEventCollector, PhysicsHooks, PhysicsPipeline, QueryPipeline};
 
@@ -179,7 +179,7 @@ impl Harness {
         self.physics.hooks = Box::new(hooks);
 
         self.physics.islands = IslandManager::new();
-        self.physics.broad_phase = BroadPhaseMultiSap::new();
+        self.physics.broad_phase = DefaultBroadPhase::new();
         self.physics.narrow_phase = NarrowPhase::new();
         self.state.timestep_id = 0;
         self.state.time = 0.0;
diff --git a/src_testbed/physics/mod.rs b/src_testbed/physics/mod.rs
index 38c9da0..3c69f6e 100644
--- a/src_testbed/physics/mod.rs
+++ b/src_testbed/physics/mod.rs
@@ -4,7 +4,7 @@ use rapier::dynamics::{
     RigidBodySet,
 };
 use rapier::geometry::{
-    BroadPhaseMultiSap, ColliderSet, CollisionEvent, ContactForceEvent, NarrowPhase,
+    ColliderSet, CollisionEvent, ContactForceEvent, DefaultBroadPhase, NarrowPhase,
 };
 use rapier::math::{Real, Vector};
 use rapier::pipeline::{PhysicsHooks, PhysicsPipeline, QueryPipeline};
@@ -22,7 +22,7 @@ pub struct PhysicsSnapshot {
 
 pub struct DeserializedPhysicsSnapshot {
     pub timestep_id: usize,
-    pub broad_phase: BroadPhaseMultiSap,
+    pub broad_phase: DefaultBroadPhase,
     pub narrow_phase: NarrowPhase,
     pub island_manager: IslandManager,
     pub bodies: RigidBodySet,
@@ -34,7 +34,7 @@ pub struct DeserializedPhysicsSnapshot {
 impl PhysicsSnapshot {
     pub fn new(
         timestep_id: usize,
-        broad_phase: &BroadPhaseMultiSap,
+        broad_phase: &DefaultBroadPhase,
         narrow_phase: &NarrowPhase,
         island_manager: &IslandManager,
         bodies: &RigidBodySet,
@@ -88,7 +88,7 @@ impl PhysicsSnapshot {
 
 pub struct PhysicsState {
     pub islands: IslandManager,
-    pub broad_phase: BroadPhaseMultiSap,
+    pub broad_phase: DefaultBroadPhase,
     pub narrow_phase: NarrowPhase,
     pub bodies: RigidBodySet,
     pub colliders: ColliderSet,
@@ -112,7 +112,7 @@ impl PhysicsState {
     pub fn new() -> Self {
         Self {
             islands: IslandManager::new(),
-            broad_phase: BroadPhaseMultiSap::new(),
+            broad_phase: DefaultBroadPhase::new(),
             narrow_phase: NarrowPhase::new(),
             bodies: RigidBodySet::new(),
             colliders: ColliderSet::new(),
-- 
cgit 


From 2df7258570ce59aedd7fb4c0dea3d3290eb02a47 Mon Sep 17 00:00:00 2001
From: Sébastien Crozet <sebcrozet@dimforge.com>
Date: Sun, 24 Mar 2024 17:25:42 +0100
Subject: feat: update testbeds to bevy 0.13

---
 src_testbed/camera2d.rs     |  2 +-
 src_testbed/camera3d.rs     |  2 +-
 src_testbed/debug_render.rs |  6 ++--
 src_testbed/graphics.rs     | 26 ++++++++++----
 src_testbed/objects/node.rs | 84 ++++++++++++++++++++++++---------------------
 src_testbed/plugin.rs       |  6 ++--
 src_testbed/testbed.rs      | 80 +++++++++++++++++++++++-------------------
 7 files changed, 117 insertions(+), 89 deletions(-)

(limited to 'src_testbed')

diff --git a/src_testbed/camera2d.rs b/src_testbed/camera2d.rs
index 6ba17a1..ae5c163 100644
--- a/src_testbed/camera2d.rs
+++ b/src_testbed/camera2d.rs
@@ -48,7 +48,7 @@ impl OrbitCameraPlugin {
     fn mouse_motion_system(
         _time: Res<Time>,
         mut mouse_motion_events: EventReader<MouseMotion>,
-        mouse_button_input: Res<Input<MouseButton>>,
+        mouse_button_input: Res<ButtonInput<MouseButton>>,
         mut query: Query<(&mut OrbitCamera, &mut Transform, &mut Camera)>,
     ) {
         let mut delta = Vec2::ZERO;
diff --git a/src_testbed/camera3d.rs b/src_testbed/camera3d.rs
index 9c3764e..b2313b7 100644
--- a/src_testbed/camera3d.rs
+++ b/src_testbed/camera3d.rs
@@ -61,7 +61,7 @@ impl OrbitCameraPlugin {
     fn mouse_motion_system(
         time: Res<Time>,
         mut mouse_motion_events: EventReader<MouseMotion>,
-        mouse_button_input: Res<Input<MouseButton>>,
+        mouse_button_input: Res<ButtonInput<MouseButton>>,
         mut query: Query<(&mut OrbitCamera, &mut Transform, &mut Camera)>,
     ) {
         let mut delta = Vec2::ZERO;
diff --git a/src_testbed/debug_render.rs b/src_testbed/debug_render.rs
index 0e0b8b8..3138546 100644
--- a/src_testbed/debug_render.rs
+++ b/src_testbed/debug_render.rs
@@ -30,11 +30,11 @@ impl Plugin for RapierDebugRenderPlugin {
     }
 }
 
-struct BevyLinesRenderBackend<'a> {
-    gizmos: Gizmos<'a>,
+struct BevyLinesRenderBackend<'w, 's> {
+    gizmos: Gizmos<'w, 's>,
 }
 
-impl<'a> DebugRenderBackend for BevyLinesRenderBackend<'a> {
+impl<'w, 's> DebugRenderBackend for BevyLinesRenderBackend<'w, 's> {
     #[cfg(feature = "dim2")]
     fn draw_line(&mut self, _: DebugRenderObject, a: Point<Real>, b: Point<Real>, color: [f32; 4]) {
         self.gizmos.line(
diff --git a/src_testbed/graphics.rs b/src_testbed/graphics.rs
index 552d4c7..226be4d 100644
--- a/src_testbed/graphics.rs
+++ b/src_testbed/graphics.rs
@@ -22,6 +22,9 @@ pub type BevyMaterial = ColorMaterial;
 #[cfg(feature = "dim3")]
 pub type BevyMaterial = StandardMaterial;
 
+pub type InstancedMaterials = HashMap<Point3<usize>, Handle<BevyMaterial>>;
+pub const SELECTED_OBJECT_MATERIAL_KEY: Point3<usize> = point![42, 42, 42];
+
 pub struct GraphicsManager {
     rand: Pcg32,
     b2sn: HashMap<RigidBodyHandle, Vec<EntityWithGraphics>>,
@@ -30,6 +33,7 @@ pub struct GraphicsManager {
     b2wireframe: HashMap<RigidBodyHandle, bool>,
     ground_color: Point3<f32>,
     prefab_meshes: HashMap<ShapeType, Handle<Mesh>>,
+    instanced_materials: InstancedMaterials,
     pub gfx_shift: Vector<Real>,
 }
 
@@ -43,10 +47,15 @@ impl GraphicsManager {
             ground_color: point![0.5, 0.5, 0.5],
             b2wireframe: HashMap::new(),
             prefab_meshes: HashMap::new(),
+            instanced_materials: HashMap::new(),
             gfx_shift: Vector::zeros(),
         }
     }
 
+    pub fn selection_material(&self) -> Handle<BevyMaterial> {
+        self.instanced_materials[&SELECTED_OBJECT_MATERIAL_KEY].clone_weak()
+    }
+
     pub fn clear(&mut self, commands: &mut Commands) {
         for sns in self.b2sn.values_mut() {
             for sn in sns.iter_mut() {
@@ -54,6 +63,7 @@ impl GraphicsManager {
             }
         }
 
+        self.instanced_materials.clear();
         self.b2sn.clear();
         self.c2color.clear();
         self.b2color.clear();
@@ -159,10 +169,11 @@ impl GraphicsManager {
 
     fn gen_color(rng: &mut Pcg32) -> Point3<f32> {
         let mut color: Point3<f32> = rng.gen();
-        color *= 1.5;
-        color.x = color.x.min(1.0);
-        color.y = color.y.min(1.0);
-        color.z = color.z.min(1.0);
+
+        // Quantize the colors a bit to get some amount of auto-instancing from bevy.
+        color.x = (color.x * 5.0).round() / 5.0;
+        color.y = (color.y * 5.0).round() / 5.0;
+        color.z = (color.z * 5.0).round() / 5.0;
         color
     }
 
@@ -191,7 +202,7 @@ impl GraphicsManager {
         commands: &mut Commands,
         meshes: &mut Assets<Mesh>,
         materials: &mut Assets<BevyMaterial>,
-        components: &mut Query<(&mut Transform,)>,
+        components: &mut Query<&mut Transform>,
         handle: RigidBodyHandle,
         bodies: &RigidBodySet,
         colliders: &ColliderSet,
@@ -214,7 +225,7 @@ impl GraphicsManager {
         commands: &mut Commands,
         meshes: &mut Assets<Mesh>,
         materials: &mut Assets<BevyMaterial>,
-        components: &mut Query<(&mut Transform,)>,
+        components: &mut Query<&mut Transform>,
         handle: RigidBodyHandle,
         bodies: &RigidBodySet,
         colliders: &ColliderSet,
@@ -330,6 +341,7 @@ impl GraphicsManager {
                 meshes,
                 materials,
                 &self.prefab_meshes,
+                &mut self.instanced_materials,
                 shape,
                 handle,
                 *pos,
@@ -345,7 +357,7 @@ impl GraphicsManager {
         &mut self,
         _bodies: &RigidBodySet,
         colliders: &ColliderSet,
-        components: &mut Query<(&mut Transform,)>,
+        components: &mut Query<&mut Transform>,
         _materials: &mut Assets<BevyMaterial>,
     ) {
         for (_, ns) in self.b2sn.iter_mut() {
diff --git a/src_testbed/objects/node.rs b/src_testbed/objects/node.rs
index cdc042b..478fead 100644
--- a/src_testbed/objects/node.rs
+++ b/src_testbed/objects/node.rs
@@ -14,7 +14,7 @@ use rapier::geometry::{ColliderHandle, ColliderSet, Shape, ShapeType};
 use rapier::geometry::{Cone, Cylinder};
 use rapier::math::{Isometry, Real, Vector};
 
-use crate::graphics::BevyMaterial;
+use crate::graphics::{BevyMaterial, InstancedMaterials, SELECTED_OBJECT_MATERIAL_KEY};
 #[cfg(feature = "dim2")]
 use {
     bevy_sprite::MaterialMesh2dBundle,
@@ -30,15 +30,43 @@ pub struct EntityWithGraphics {
     pub collider: Option<ColliderHandle>,
     pub delta: Isometry<Real>,
     pub opacity: f32,
-    material: Handle<BevyMaterial>,
+    pub material: Handle<BevyMaterial>,
 }
 
 impl EntityWithGraphics {
+    pub fn register_selected_object_material(
+        materials: &mut Assets<BevyMaterial>,
+        instanced_materials: &mut InstancedMaterials,
+    ) {
+        if instanced_materials.contains_key(&SELECTED_OBJECT_MATERIAL_KEY) {
+            return; // Already added.
+        }
+
+        #[cfg(feature = "dim2")]
+        let selection_material = ColorMaterial {
+            color: Color::rgb(1.0, 0.0, 0.0),
+            texture: None,
+        };
+        #[cfg(feature = "dim3")]
+        let selection_material = StandardMaterial {
+            metallic: 0.5,
+            perceptual_roughness: 0.5,
+            double_sided: true, // TODO: this doesn't do anything?
+            ..StandardMaterial::from(Color::rgb(1.0, 0.0, 0.0))
+        };
+
+        instanced_materials.insert(
+            SELECTED_OBJECT_MATERIAL_KEY,
+            materials.add(selection_material),
+        );
+    }
+
     pub fn spawn(
         commands: &mut Commands,
         meshes: &mut Assets<Mesh>,
         materials: &mut Assets<BevyMaterial>,
         prefab_meshs: &HashMap<ShapeType, Handle<Mesh>>,
+        instanced_materials: &mut InstancedMaterials,
         shape: &dyn Shape,
         collider: Option<ColliderHandle>,
         collider_pos: Isometry<Real>,
@@ -46,6 +74,8 @@ impl EntityWithGraphics {
         color: Point3<f32>,
         sensor: bool,
     ) -> Self {
+        Self::register_selected_object_material(materials, instanced_materials);
+
         let entity = commands.spawn_empty().id();
 
         let scale = collider_mesh_scale(shape);
@@ -90,21 +120,23 @@ impl EntityWithGraphics {
             double_sided: true, // TODO: this doesn't do anything?
             ..StandardMaterial::from(bevy_color)
         };
-        let material_handle = materials.add(material);
+        let material_handle = instanced_materials
+            .entry(color.coords.map(|c| (c * 255.0) as usize).into())
+            .or_insert_with(|| materials.add(material));
         let material_weak_handle = material_handle.clone_weak();
 
         if let Some(mesh) = mesh {
             #[cfg(feature = "dim2")]
             let bundle = MaterialMesh2dBundle {
                 mesh: mesh.into(),
-                material: material_handle,
+                material: material_handle.clone_weak(),
                 transform,
                 ..Default::default()
             };
             #[cfg(feature = "dim3")]
             let bundle = PbrBundle {
                 mesh,
-                material: material_handle,
+                material: material_handle.clone_weak(),
                 transform,
                 ..Default::default()
             };
@@ -133,28 +165,6 @@ impl EntityWithGraphics {
         commands.entity(self.entity).despawn();
     }
 
-    pub fn select(&mut self, materials: &mut Assets<BevyMaterial>) {
-        // NOTE: we don't just call `self.set_color` because that would
-        //       overwrite self.base_color too.
-        self.color = point![1.0, 0.0, 0.0];
-        if let Some(material) = materials.get_mut(&self.material) {
-            #[cfg(feature = "dim2")]
-            {
-                material.color =
-                    Color::rgba(self.color.x, self.color.y, self.color.z, self.opacity);
-            }
-            #[cfg(feature = "dim3")]
-            {
-                material.base_color =
-                    Color::rgba(self.color.x, self.color.y, self.color.z, self.opacity);
-            }
-        }
-    }
-
-    pub fn unselect(&mut self, materials: &mut Assets<BevyMaterial>) {
-        self.set_color(materials, self.base_color);
-    }
-
     pub fn set_color(&mut self, materials: &mut Assets<BevyMaterial>, color: Point3<f32>) {
         if let Some(material) = materials.get_mut(&self.material) {
             #[cfg(feature = "dim2")]
@@ -173,11 +183,11 @@ impl EntityWithGraphics {
     pub fn update(
         &mut self,
         colliders: &ColliderSet,
-        components: &mut Query<(&mut Transform,)>,
+        components: &mut Query<&mut Transform>,
         gfx_shift: &Vector<Real>,
     ) {
         if let Some(Some(co)) = self.collider.map(|c| colliders.get(c)) {
-            if let Ok(mut pos) = components.get_component_mut::<Transform>(self.entity) {
+            if let Ok(mut pos) = components.get_mut(self.entity) {
                 let co_pos = co.position() * self.delta;
                 pos.translation.x = (co_pos.translation.vector.x + gfx_shift.x) as f32;
                 pos.translation.y = (co_pos.translation.vector.y + gfx_shift.y) as f32;
@@ -230,18 +240,14 @@ impl EntityWithGraphics {
         //
         // Cuboid mesh
         //
-        let cuboid = Mesh::from(shape::Cube { size: 2.0 });
+        let cuboid = Mesh::from(bevy::math::primitives::Cuboid::new(2.0, 2.0, 2.0));
         out.insert(ShapeType::Cuboid, meshes.add(cuboid.clone()));
         out.insert(ShapeType::RoundCuboid, meshes.add(cuboid));
 
         //
         // Ball mesh
         //
-        let ball = Mesh::try_from(shape::Icosphere {
-            subdivisions: 2,
-            radius: 1.0,
-        })
-        .unwrap();
+        let ball = Mesh::try_from(bevy::math::primitives::Sphere::new(1.0)).unwrap();
         out.insert(ShapeType::Ball, meshes.add(ball));
 
         //
@@ -309,14 +315,14 @@ fn bevy_polyline(buffers: (Vec<Point2<Real>>, Option<Vec<[u32; 2]>>)) -> Mesh {
     let normals: Vec<_> = (0..vertices.len()).map(|_| [0.0, 0.0, 1.0]).collect();
 
     // Generate the mesh
-    let mut mesh = Mesh::new(PrimitiveTopology::LineStrip);
+    let mut mesh = Mesh::new(PrimitiveTopology::LineStrip, Default::default());
     mesh.insert_attribute(
         Mesh::ATTRIBUTE_POSITION,
         VertexAttributeValues::from(vertices),
     );
     mesh.insert_attribute(Mesh::ATTRIBUTE_NORMAL, VertexAttributeValues::from(normals));
     mesh.insert_attribute(Mesh::ATTRIBUTE_UV_0, VertexAttributeValues::from(uvs));
-    mesh.set_indices(Some(Indices::U32(indices)));
+    mesh.insert_indices(Indices::U32(indices));
     mesh
 }
 
@@ -352,14 +358,14 @@ fn bevy_mesh(buffers: (Vec<Point3<Real>>, Vec<[u32; 3]>)) -> Mesh {
     let uvs: Vec<_> = (0..vertices.len()).map(|_| [0.0, 0.0]).collect();
 
     // Generate the mesh
-    let mut mesh = Mesh::new(PrimitiveTopology::TriangleList);
+    let mut mesh = Mesh::new(PrimitiveTopology::TriangleList, Default::default());
     mesh.insert_attribute(
         Mesh::ATTRIBUTE_POSITION,
         VertexAttributeValues::from(vertices),
     );
     mesh.insert_attribute(Mesh::ATTRIBUTE_NORMAL, VertexAttributeValues::from(normals));
     mesh.insert_attribute(Mesh::ATTRIBUTE_UV_0, VertexAttributeValues::from(uvs));
-    mesh.set_indices(Some(Indices::U32(indices)));
+    mesh.insert_indices(Indices::U32(indices));
     mesh
 }
 
diff --git a/src_testbed/plugin.rs b/src_testbed/plugin.rs
index 7f19aa9..42fdd17 100644
--- a/src_testbed/plugin.rs
+++ b/src_testbed/plugin.rs
@@ -14,7 +14,7 @@ pub trait TestbedPlugin {
         commands: &mut Commands,
         meshes: &mut Assets<Mesh>,
         materials: &mut Assets<BevyMaterial>,
-        components: &mut Query<(&mut Transform,)>,
+        components: &mut Query<&mut Transform>,
         harness: &mut Harness,
     );
     fn clear_graphics(&mut self, graphics: &mut GraphicsManager, commands: &mut Commands);
@@ -26,7 +26,7 @@ pub trait TestbedPlugin {
         commands: &mut Commands,
         meshes: &mut Assets<Mesh>,
         materials: &mut Assets<BevyMaterial>,
-        components: &mut Query<(&mut Transform,)>,
+        components: &mut Query<&mut Transform>,
         harness: &mut Harness,
     );
     fn update_ui(
@@ -37,7 +37,7 @@ pub trait TestbedPlugin {
         commands: &mut Commands,
         meshes: &mut Assets<Mesh>,
         materials: &mut Assets<BevyMaterial>,
-        components: &mut Query<(&mut Transform,)>,
+        components: &mut Query<&mut Transform>,
     );
     fn profiling_string(&self) -> String;
 }
diff --git a/src_testbed/testbed.rs b/src_testbed/testbed.rs
index 780e23e..7be4594 100644
--- a/src_testbed/testbed.rs
+++ b/src_testbed/testbed.rs
@@ -31,8 +31,7 @@ use crate::box2d_backend::Box2dWorld;
 use crate::harness::Harness;
 #[cfg(all(feature = "dim3", feature = "other-backends"))]
 use crate::physx_backend::PhysxWorld;
-use bevy::render::camera::Camera;
-use bevy_core_pipeline::prelude::ClearColor;
+use bevy::render::camera::{Camera, ClearColor};
 use bevy_egui::EguiContexts;
 use bevy_pbr::wireframe::WireframePlugin;
 use bevy_pbr::AmbientLight;
@@ -155,11 +154,11 @@ pub struct TestbedGraphics<'a, 'b, 'c, 'd, 'e, 'f> {
     commands: &'a mut Commands<'d, 'e>,
     meshes: &'a mut Assets<Mesh>,
     materials: &'a mut Assets<BevyMaterial>,
-    components: &'a mut Query<'b, 'f, (&'c mut Transform,)>,
+    components: &'a mut Query<'b, 'f, &'c mut Transform>,
     #[allow(dead_code)] // Dead in 2D but not in 3D.
     camera_transform: GlobalTransform,
     camera: &'a mut OrbitCamera,
-    keys: &'a Input<KeyCode>,
+    keys: &'a ButtonInput<KeyCode>,
 }
 
 pub struct Testbed<'a, 'b, 'c, 'd, 'e, 'f> {
@@ -468,7 +467,7 @@ impl<'a, 'b, 'c, 'd, 'e, 'f> TestbedGraphics<'a, 'b, 'c, 'd, 'e, 'f> {
         )
     }
 
-    pub fn keys(&self) -> &Input<KeyCode> {
+    pub fn keys(&self) -> &ButtonInput<KeyCode> {
         self.keys
     }
 }
@@ -660,7 +659,7 @@ impl<'a, 'b, 'c, 'd, 'e, 'f> Testbed<'a, 'b, 'c, 'd, 'e, 'f> {
     }
 
     #[cfg(feature = "dim3")]
-    fn update_vehicle_controller(&mut self, events: &Input<KeyCode>) {
+    fn update_vehicle_controller(&mut self, events: &ButtonInput<KeyCode>) {
         if self.state.running == RunMode::Stop {
             return;
         }
@@ -671,16 +670,16 @@ impl<'a, 'b, 'c, 'd, 'e, 'f> Testbed<'a, 'b, 'c, 'd, 'e, 'f> {
 
             for key in events.get_pressed() {
                 match *key {
-                    KeyCode::Right => {
+                    KeyCode::ArrowRight => {
                         steering_angle += -0.7;
                     }
-                    KeyCode::Left => {
+                    KeyCode::ArrowLeft => {
                         steering_angle += 0.7;
                     }
-                    KeyCode::Up => {
+                    KeyCode::ArrowUp => {
                         engine_force += 30.0;
                     }
-                    KeyCode::Down => {
+                    KeyCode::ArrowDown => {
                         engine_force += -30.0;
                     }
                     _ => {}
@@ -703,7 +702,7 @@ impl<'a, 'b, 'c, 'd, 'e, 'f> Testbed<'a, 'b, 'c, 'd, 'e, 'f> {
         }
     }
 
-    fn update_character_controller(&mut self, events: &Input<KeyCode>) {
+    fn update_character_controller(&mut self, events: &ButtonInput<KeyCode>) {
         if self.state.running == RunMode::Stop {
             return;
         }
@@ -715,10 +714,10 @@ impl<'a, 'b, 'c, 'd, 'e, 'f> Testbed<'a, 'b, 'c, 'd, 'e, 'f> {
             #[cfg(feature = "dim2")]
             for key in events.get_pressed() {
                 match *key {
-                    KeyCode::Right => {
+                    KeyCode::ArrowRight => {
                         desired_movement += Vector::x();
                     }
-                    KeyCode::Left => {
+                    KeyCode::ArrowLeft => {
                         desired_movement -= Vector::x();
                     }
                     KeyCode::Space => {
@@ -750,16 +749,16 @@ impl<'a, 'b, 'c, 'd, 'e, 'f> Testbed<'a, 'b, 'c, 'd, 'e, 'f> {
 
                 for key in events.get_pressed() {
                     match *key {
-                        KeyCode::Right => {
+                        KeyCode::ArrowRight => {
                             desired_movement += rot_x;
                         }
-                        KeyCode::Left => {
+                        KeyCode::ArrowLeft => {
                             desired_movement -= rot_x;
                         }
-                        KeyCode::Up => {
+                        KeyCode::ArrowUp => {
                             desired_movement -= rot_z;
                         }
-                        KeyCode::Down => {
+                        KeyCode::ArrowDown => {
                             desired_movement += rot_z;
                         }
                         KeyCode::Space => {
@@ -818,22 +817,22 @@ impl<'a, 'b, 'c, 'd, 'e, 'f> Testbed<'a, 'b, 'c, 'd, 'e, 'f> {
         }
     }
 
-    fn handle_common_events(&mut self, events: &Input<KeyCode>) {
+    fn handle_common_events(&mut self, events: &ButtonInput<KeyCode>) {
         for key in events.get_just_released() {
             match *key {
-                KeyCode::T => {
+                KeyCode::KeyT => {
                     if self.state.running == RunMode::Stop {
                         self.state.running = RunMode::Running;
                     } else {
                         self.state.running = RunMode::Stop;
                     }
                 }
-                KeyCode::S => self.state.running = RunMode::Step,
-                KeyCode::R => self
+                KeyCode::KeyS => self.state.running = RunMode::Step,
+                KeyCode::KeyR => self
                     .state
                     .action_flags
                     .set(TestbedActionFlags::EXAMPLE_CHANGED, true),
-                KeyCode::C => {
+                KeyCode::KeyC => {
                     // Delete 1 collider of 10% of the remaining dynamic bodies.
                     let mut colliders: Vec<_> = self
                         .harness
@@ -859,7 +858,7 @@ impl<'a, 'b, 'c, 'd, 'e, 'f> Testbed<'a, 'b, 'c, 'd, 'e, 'f> {
                         );
                     }
                 }
-                KeyCode::D => {
+                KeyCode::KeyD => {
                     // Delete 10% of the remaining dynamic bodies.
                     let dynamic_bodies: Vec<_> = self
                         .harness
@@ -884,7 +883,7 @@ impl<'a, 'b, 'c, 'd, 'e, 'f> Testbed<'a, 'b, 'c, 'd, 'e, 'f> {
                         );
                     }
                 }
-                KeyCode::J => {
+                KeyCode::KeyJ => {
                     // Delete 10% of the remaining impulse_joints.
                     let impulse_joints: Vec<_> = self
                         .harness
@@ -898,7 +897,7 @@ impl<'a, 'b, 'c, 'd, 'e, 'f> Testbed<'a, 'b, 'c, 'd, 'e, 'f> {
                         self.harness.physics.impulse_joints.remove(*to_delete, true);
                     }
                 }
-                KeyCode::A => {
+                KeyCode::KeyA => {
                     // Delete 10% of the remaining multibody_joints.
                     let multibody_joints: Vec<_> = self
                         .harness
@@ -915,7 +914,7 @@ impl<'a, 'b, 'c, 'd, 'e, 'f> Testbed<'a, 'b, 'c, 'd, 'e, 'f> {
                             .remove(*to_delete, true);
                     }
                 }
-                KeyCode::M => {
+                KeyCode::KeyM => {
                     // Delete one remaining multibody.
                     let to_delete = self
                         .harness
@@ -1013,10 +1012,14 @@ fn draw_contacts(_nf: &NarrowPhase, _colliders: &ColliderSet) {
 
 #[cfg(feature = "dim3")]
 fn setup_graphics_environment(mut commands: Commands) {
+    commands.insert_resource(AmbientLight {
+        brightness: 100.0,
+        ..Default::default()
+    });
+
     commands.spawn(DirectionalLightBundle {
         directional_light: DirectionalLight {
-            illuminance: 10000.0,
-            shadows_enabled: true,
+            shadows_enabled: false,
             ..Default::default()
         },
         transform: Transform {
@@ -1102,9 +1105,10 @@ fn update_testbed(
     #[cfg(feature = "other-backends")] mut other_backends: NonSendMut<OtherBackends>,
     mut plugins: NonSendMut<Plugins>,
     mut ui_context: EguiContexts,
-    mut gfx_components: Query<(&mut Transform,)>,
+    mut gfx_components: Query<&mut Transform>,
     mut cameras: Query<(&Camera, &GlobalTransform, &mut OrbitCamera)>,
-    keys: Res<Input<KeyCode>>,
+    mut material_handles: Query<&mut Handle<BevyMaterial>>,
+    keys: Res<ButtonInput<KeyCode>>,
 ) {
     let meshes = &mut *meshes;
     let materials = &mut *materials;
@@ -1448,7 +1452,7 @@ fn update_testbed(
     if let Ok(window) = windows.get_single() {
         for (camera, camera_pos, _) in cameras.iter_mut() {
             highlight_hovered_body(
-                &mut *materials,
+                &mut material_handles,
                 &mut graphics,
                 &mut state,
                 &harness.physics,
@@ -1502,7 +1506,7 @@ fn clear(
 
 #[cfg(feature = "dim2")]
 fn highlight_hovered_body(
-    _materials: &mut Assets<BevyMaterial>,
+    _material_handles: &mut Query<&mut Handle<BevyMaterial>>,
     _graphics_manager: &mut GraphicsManager,
     _testbed_state: &mut TestbedState,
     _physics: &PhysicsState,
@@ -1515,7 +1519,7 @@ fn highlight_hovered_body(
 
 #[cfg(feature = "dim3")]
 fn highlight_hovered_body(
-    materials: &mut Assets<BevyMaterial>,
+    material_handles: &mut Query<&mut Handle<BevyMaterial>>,
     graphics_manager: &mut GraphicsManager,
     testbed_state: &mut TestbedState,
     physics: &PhysicsState,
@@ -1526,7 +1530,9 @@ fn highlight_hovered_body(
     if let Some(highlighted_body) = testbed_state.highlighted_body {
         if let Some(nodes) = graphics_manager.body_nodes_mut(highlighted_body) {
             for node in nodes {
-                node.unselect(materials)
+                if let Ok(mut handle) = material_handles.get_mut(node.entity) {
+                    *handle = node.material.clone_weak()
+                };
             }
         }
     }
@@ -1558,8 +1564,12 @@ fn highlight_hovered_body(
 
             if let Some(parent_handle) = collider.parent() {
                 testbed_state.highlighted_body = Some(parent_handle);
+                let selection_material = graphics_manager.selection_material();
+
                 for node in graphics_manager.body_nodes_mut(parent_handle).unwrap() {
-                    node.select(materials)
+                    if let Ok(mut handle) = material_handles.get_mut(node.entity) {
+                        *handle = selection_material.clone_weak();
+                    }
                 }
             }
         }
-- 
cgit 


From e69e73e589cf4525c96ee7b919032c80ce205244 Mon Sep 17 00:00:00 2001
From: Sébastien Crozet <sebcrozet@dimforge.com>
Date: Sun, 24 Mar 2024 17:41:59 +0100
Subject: chore: clippy fixes
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 src_testbed/objects/node.rs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'src_testbed')

diff --git a/src_testbed/objects/node.rs b/src_testbed/objects/node.rs
index 478fead..58e3a00 100644
--- a/src_testbed/objects/node.rs
+++ b/src_testbed/objects/node.rs
@@ -247,7 +247,7 @@ impl EntityWithGraphics {
         //
         // Ball mesh
         //
-        let ball = Mesh::try_from(bevy::math::primitives::Sphere::new(1.0)).unwrap();
+        let ball = Mesh::from(bevy::math::primitives::Sphere::new(1.0));
         out.insert(ShapeType::Ball, meshes.add(ball));
 
         //
-- 
cgit 


From 996400726927fb952999afbc36db6e2bfba7d44e Mon Sep 17 00:00:00 2001
From: Sébastien Crozet <sebcrozet@dimforge.com>
Date: Sun, 7 Apr 2024 22:16:58 +0200
Subject: feat: add some additional perf counters

---
 src_testbed/ui.rs | 24 +++++++++++++-----------
 1 file changed, 13 insertions(+), 11 deletions(-)

(limited to 'src_testbed')

diff --git a/src_testbed/ui.rs b/src_testbed/ui.rs
index 7d50f62..c76b288 100644
--- a/src_testbed/ui.rs
+++ b/src_testbed/ui.rs
@@ -227,20 +227,21 @@ fn profiling_string(counters: &Counters) -> String {
         r#"Total: {:.2}ms
 Collision detection: {:.2}ms
 |_ Broad-phase: {:.2}ms
-   Narrow-phase: {:.2}ms
+    Narrow-phase: {:.2}ms
 Island computation: {:.2}ms
 Solver: {:.2}ms
 |_ Velocity assembly: {:.2}ms
-   Velocity resolution: {:.2}ms
-   Velocity integration: {:.2}ms
-   Position assembly: {:.2}ms
-   Position resolution: {:.2}ms
+    Velocity resolution: {:.2}ms
+    Velocity integration: {:.2}ms
+    Writeback: {:.2}ms
 CCD: {:.2}ms
 |_ # of substeps: {}
-   TOI computation: {:.2}ms
-   Broad-phase: {:.2}ms
-   Narrow-phase: {:.2}ms
-   Solver: {:.2}ms"#,
+    TOI computation: {:.2}ms
+    Broad-phase: {:.2}ms
+    Narrow-phase: {:.2}ms
+    Solver: {:.2}ms
+Query pipeline: {:.2}ms
+User changes: {:.2}ms"#,
         counters.step_time(),
         counters.collision_detection_time(),
         counters.broad_phase_time(),
@@ -250,14 +251,15 @@ CCD: {:.2}ms
         counters.solver.velocity_assembly_time.time(),
         counters.velocity_resolution_time(),
         counters.solver.velocity_update_time.time(),
-        counters.solver.position_assembly_time.time(),
-        counters.position_resolution_time(),
+        counters.solver.velocity_writeback_time.time(),
         counters.ccd_time(),
         counters.ccd.num_substeps,
         counters.ccd.toi_computation_time.time(),
         counters.ccd.broad_phase_time.time(),
         counters.ccd.narrow_phase_time.time(),
         counters.ccd.solver_time.time(),
+        counters.query_pipeline_update_time(),
+        counters.stages.user_changes.time(),
     )
 }
 
-- 
cgit 


From 9c5c14070d0a0b0283f3943c0f95552c395f2b97 Mon Sep 17 00:00:00 2001
From: Sébastien Crozet <sebcrozet@dimforge.com>
Date: Sun, 14 Apr 2024 15:55:20 +0200
Subject: feat: add variable constraints stabilization iteration number

---
 src_testbed/ui.rs | 7 +++++++
 1 file changed, 7 insertions(+)

(limited to 'src_testbed')

diff --git a/src_testbed/ui.rs b/src_testbed/ui.rs
index c76b288..e8b82bd 100644
--- a/src_testbed/ui.rs
+++ b/src_testbed/ui.rs
@@ -150,6 +150,13 @@ pub fn update_ui(
                 )
                 .text("num additional frict. iters."),
             );
+            ui.add(
+                Slider::new(
+                    &mut integration_parameters.max_internal_stabilization_iterations,
+                    1..=100,
+                )
+                .text("max internal stabilization iters."),
+            );
         }
 
         #[cfg(feature = "parallel")]
-- 
cgit 


From f58b4f7c195ab7acf0778ea65c46ebf37ac8188c Mon Sep 17 00:00:00 2001
From: Sébastien Crozet <sebcrozet@dimforge.com>
Date: Sun, 21 Apr 2024 18:55:11 +0200
Subject: feat: add warmstarting to contact constraints resolution

---
 src_testbed/testbed.rs | 22 ++++++----------------
 src_testbed/ui.rs      | 36 ++++++++++++++++++++++++++++--------
 2 files changed, 34 insertions(+), 24 deletions(-)

(limited to 'src_testbed')

diff --git a/src_testbed/testbed.rs b/src_testbed/testbed.rs
index 7be4594..a575f98 100644
--- a/src_testbed/testbed.rs
+++ b/src_testbed/testbed.rs
@@ -102,10 +102,12 @@ bitflags! {
     }
 }
 
-#[derive(Copy, Clone, Debug, PartialEq, Eq)]
+#[derive(Copy, Clone, Debug, PartialEq, Eq, Default)]
 pub enum RapierSolverType {
-    SmallStepsPgs,
-    StandardPgs,
+    #[default]
+    TgsSoft,
+    TgsSoftNoWarmstart,
+    PgsLegacy,
 }
 
 pub type SimulationBuilders = Vec<(&'static str, fn(&mut Testbed))>;
@@ -214,7 +216,7 @@ impl TestbedApp {
             example_names: Vec::new(),
             selected_example: 0,
             selected_backend: RAPIER_BACKEND,
-            solver_type: RapierSolverType::SmallStepsPgs,
+            solver_type: RapierSolverType::default(),
             physx_use_two_friction_directions: true,
             nsteps: 1,
             camera_locked: false,
@@ -1202,18 +1204,6 @@ fn update_testbed(
             }
             plugins.0.clear();
 
-            if state.selected_example != prev_example {
-                harness.physics.integration_parameters = IntegrationParameters::default();
-
-                match state.solver_type {
-                    RapierSolverType::SmallStepsPgs => {} // It’s already the default.
-                    RapierSolverType::StandardPgs => harness
-                        .physics
-                        .integration_parameters
-                        .switch_to_standard_pgs_solver(),
-                }
-            }
-
             let selected_example = state.selected_example;
             let graphics = &mut *graphics;
             let meshes = &mut *meshes;
diff --git a/src_testbed/ui.rs b/src_testbed/ui.rs
index e8b82bd..4df9d87 100644
--- a/src_testbed/ui.rs
+++ b/src_testbed/ui.rs
@@ -12,6 +12,7 @@ use crate::testbed::{
 use crate::PhysicsState;
 use bevy_egui::egui::Slider;
 use bevy_egui::{egui, EguiContexts};
+use rapier::dynamics::IntegrationParameters;
 
 pub fn update_ui(
     ui_context: &mut EguiContexts,
@@ -109,8 +110,9 @@ pub fn update_ui(
                 .selected_text(format!("{:?}", state.solver_type))
                 .show_ui(ui, |ui| {
                     let solver_types = [
-                        RapierSolverType::SmallStepsPgs,
-                        RapierSolverType::StandardPgs,
+                        RapierSolverType::TgsSoft,
+                        RapierSolverType::TgsSoftNoWarmstart,
+                        RapierSolverType::PgsLegacy,
                     ];
                     for sty in solver_types {
                         changed = ui
@@ -122,11 +124,15 @@ pub fn update_ui(
 
             if changed {
                 match state.solver_type {
-                    RapierSolverType::SmallStepsPgs => {
-                        integration_parameters.switch_to_small_steps_pgs_solver()
+                    RapierSolverType::TgsSoft => {
+                        *integration_parameters = IntegrationParameters::tgs_soft();
                     }
-                    RapierSolverType::StandardPgs => {
-                        integration_parameters.switch_to_standard_pgs_solver()
+                    RapierSolverType::TgsSoftNoWarmstart => {
+                        *integration_parameters =
+                            IntegrationParameters::tgs_soft_without_warmstart();
+                    }
+                    RapierSolverType::PgsLegacy => {
+                        *integration_parameters = IntegrationParameters::pgs_legacy();
                     }
                 }
             }
@@ -146,17 +152,31 @@ pub fn update_ui(
             ui.add(
                 Slider::new(
                     &mut integration_parameters.num_additional_friction_iterations,
-                    1..=40,
+                    0..=40,
                 )
                 .text("num additional frict. iters."),
             );
             ui.add(
                 Slider::new(
-                    &mut integration_parameters.max_internal_stabilization_iterations,
+                    &mut integration_parameters.num_internal_stabilization_iterations,
                     1..=100,
                 )
                 .text("max internal stabilization iters."),
             );
+            ui.add(
+                Slider::new(&mut integration_parameters.warmstart_coefficient, 0.0..=1.0)
+                    .text("warmstart coefficient"),
+            );
+            ui.add(Slider::new(&mut integration_parameters.erp, 0.0..=1.0).text("erp"));
+            ui.add(
+                Slider::new(&mut integration_parameters.damping_ratio, 0.0..=20.0)
+                    .text("damping ratio"),
+            );
+            ui.add(Slider::new(&mut integration_parameters.joint_erp, 0.0..=1.0).text("joint erp"));
+            ui.add(
+                Slider::new(&mut integration_parameters.joint_damping_ratio, 0.0..=20.0)
+                    .text("joint damping ratio"),
+            );
         }
 
         #[cfg(feature = "parallel")]
-- 
cgit 


From c079452a478bb2f5d976cbba162e7f92252b505d Mon Sep 17 00:00:00 2001
From: Sébastien Crozet <sebcrozet@dimforge.com>
Date: Wed, 24 Apr 2024 22:37:21 +0200
Subject: feat: add IntegrationParameters::length_unit to adjust internal
 threshold based on user-defined length units
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 src_testbed/testbed.rs | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

(limited to 'src_testbed')

diff --git a/src_testbed/testbed.rs b/src_testbed/testbed.rs
index a575f98..d5406d0 100644
--- a/src_testbed/testbed.rs
+++ b/src_testbed/testbed.rs
@@ -1355,15 +1355,15 @@ fn update_testbed(
         {
             if state.flags.contains(TestbedStateFlags::SLEEP) {
                 for (_, body) in harness.physics.bodies.iter_mut() {
-                    body.activation_mut().linear_threshold =
-                        RigidBodyActivation::default_linear_threshold();
+                    body.activation_mut().normalized_linear_threshold =
+                        RigidBodyActivation::default_normalized_linear_threshold();
                     body.activation_mut().angular_threshold =
                         RigidBodyActivation::default_angular_threshold();
                 }
             } else {
                 for (_, body) in harness.physics.bodies.iter_mut() {
                     body.wake_up(true);
-                    body.activation_mut().linear_threshold = -1.0;
+                    body.activation_mut().normalized_linear_threshold = -1.0;
                 }
             }
         }
-- 
cgit 


From 9ba155748e9e90b42b6bd31661e7da3b80f2c122 Mon Sep 17 00:00:00 2001
From: Sébastien Crozet <sebcrozet@dimforge.com>
Date: Sun, 28 Apr 2024 10:52:13 +0200
Subject: chore: clenaup testbed profiling ui

---
 src_testbed/ui.rs | 126 +++++++++++++++++++++++++++++++++++++-----------------
 1 file changed, 86 insertions(+), 40 deletions(-)

(limited to 'src_testbed')

diff --git a/src_testbed/ui.rs b/src_testbed/ui.rs
index 4df9d87..e18cc65 100644
--- a/src_testbed/ui.rs
+++ b/src_testbed/ui.rs
@@ -10,7 +10,8 @@ use crate::testbed::{
 };
 
 use crate::PhysicsState;
-use bevy_egui::egui::Slider;
+use bevy_egui::egui::WidgetType::CollapsingHeader;
+use bevy_egui::egui::{Slider, Ui};
 use bevy_egui::{egui, EguiContexts};
 use rapier::dynamics::IntegrationParameters;
 
@@ -80,9 +81,12 @@ pub fn update_ui(
 
         ui.separator();
 
+        ui.collapsing("Scene infos", |ui| {
+            scene_infos_ui(ui, &harness.physics);
+        });
         ui.collapsing("Profile infos", |ui| {
             ui.horizontal_wrapped(|ui| {
-                ui.label(profiling_string(&harness.physics.pipeline.counters))
+                profiling_ui(ui, &harness.physics.pipeline.counters);
             });
         });
         ui.collapsing("Serialization infos", |ui| {
@@ -249,45 +253,87 @@ pub fn update_ui(
     });
 }
 
-fn profiling_string(counters: &Counters) -> String {
-    format!(
-        r#"Total: {:.2}ms
-Collision detection: {:.2}ms
-|_ Broad-phase: {:.2}ms
-    Narrow-phase: {:.2}ms
-Island computation: {:.2}ms
-Solver: {:.2}ms
-|_ Velocity assembly: {:.2}ms
-    Velocity resolution: {:.2}ms
-    Velocity integration: {:.2}ms
-    Writeback: {:.2}ms
-CCD: {:.2}ms
-|_ # of substeps: {}
-    TOI computation: {:.2}ms
-    Broad-phase: {:.2}ms
-    Narrow-phase: {:.2}ms
-    Solver: {:.2}ms
-Query pipeline: {:.2}ms
-User changes: {:.2}ms"#,
+fn scene_infos_ui(ui: &mut Ui, physics: &PhysicsState) {
+    ui.label(format!("# rigid-bodies: {}", physics.bodies.len()));
+    ui.label(format!("# colliders: {}", physics.colliders.len()));
+    ui.label(format!("# impulse joint: {}", physics.impulse_joints.len()));
+    // ui.label(format!(
+    //     "# multibody joint: {}",
+    //     physics.multibody_joints.len()
+    // ));
+}
+
+fn profiling_ui(ui: &mut Ui, counters: &Counters) {
+    egui::CollapsingHeader::new(format!(
+        "Total: {:.2}ms - {} fps",
         counters.step_time(),
-        counters.collision_detection_time(),
-        counters.broad_phase_time(),
-        counters.narrow_phase_time(),
-        counters.island_construction_time(),
-        counters.solver_time(),
-        counters.solver.velocity_assembly_time.time(),
-        counters.velocity_resolution_time(),
-        counters.solver.velocity_update_time.time(),
-        counters.solver.velocity_writeback_time.time(),
-        counters.ccd_time(),
-        counters.ccd.num_substeps,
-        counters.ccd.toi_computation_time.time(),
-        counters.ccd.broad_phase_time.time(),
-        counters.ccd.narrow_phase_time.time(),
-        counters.ccd.solver_time.time(),
-        counters.query_pipeline_update_time(),
-        counters.stages.user_changes.time(),
-    )
+        (1000.0 / counters.step_time()).round()
+    ))
+    .id_source("total")
+    .show(ui, |ui| {
+        egui::CollapsingHeader::new(format!(
+            "Collision detection: {:.2}ms",
+            counters.collision_detection_time()
+        ))
+        .id_source("collision detection")
+        .show(ui, |ui| {
+            ui.label(format!("Broad-phase: {:.2}ms", counters.broad_phase_time()));
+            ui.label(format!(
+                "Narrow-phase: {:.2}ms",
+                counters.narrow_phase_time()
+            ));
+        });
+        egui::CollapsingHeader::new(format!("Solver: {:.2}ms", counters.solver_time()))
+            .id_source("solver")
+            .show(ui, |ui| {
+                ui.label(format!(
+                    "Velocity assembly: {:.2}ms",
+                    counters.solver.velocity_assembly_time.time()
+                ));
+                ui.label(format!(
+                    "Velocity resolution: {:.2}ms",
+                    counters.velocity_resolution_time()
+                ));
+                ui.label(format!(
+                    "Velocity integration: {:.2}ms",
+                    counters.solver.velocity_update_time.time()
+                ));
+                ui.label(format!(
+                    "Writeback: {:.2}ms",
+                    counters.solver.velocity_writeback_time.time()
+                ));
+            });
+        egui::CollapsingHeader::new(format!("CCD: {:.2}ms", counters.ccd_time()))
+            .id_source("ccd")
+            .show(ui, |ui| {
+                ui.label(format!("# of substeps: {}", counters.ccd.num_substeps));
+                ui.label(format!(
+                    "TOI computation: {:.2}ms",
+                    counters.ccd.toi_computation_time.time(),
+                ));
+                ui.label(format!(
+                    "Broad-phase: {:.2}ms",
+                    counters.ccd.broad_phase_time.time()
+                ));
+                ui.label(format!(
+                    "Narrow-phase: {:.2}ms",
+                    counters.ccd.narrow_phase_time.time(),
+                ));
+                ui.label(format!("Solver: {:.2}ms", counters.ccd.solver_time.time()));
+            });
+        ui.label(format!(
+            "Island computation: {:.2}ms",
+            counters.island_construction_time()
+        ));
+        ui.label(format!(
+            "Query pipeline: {:.2}ms",
+            counters.query_pipeline_update_time()
+        ));
+        ui.label(format!(
+            "User changes: {:.2}ms",
+            counters.stages.user_changes.time()
+        ));
+    });
 }
 
 fn serialization_string(timestep_id: usize, physics: &PhysicsState) -> String {
-- 
cgit 


From 0a9153e273dc0bdd4ba6443bd7f4dcfc671faac3 Mon Sep 17 00:00:00 2001
From: Sébastien Crozet <sebcrozet@dimforge.com>
Date: Sun, 28 Apr 2024 18:23:30 +0200
Subject: chore: clippy fixes

---
 src_testbed/testbed.rs | 1 -
 src_testbed/ui.rs      | 1 -
 2 files changed, 2 deletions(-)

(limited to 'src_testbed')

diff --git a/src_testbed/testbed.rs b/src_testbed/testbed.rs
index d5406d0..f76100d 100644
--- a/src_testbed/testbed.rs
+++ b/src_testbed/testbed.rs
@@ -1114,7 +1114,6 @@ fn update_testbed(
 ) {
     let meshes = &mut *meshes;
     let materials = &mut *materials;
-    let prev_example = state.selected_example;
 
     // Handle inputs
     {
diff --git a/src_testbed/ui.rs b/src_testbed/ui.rs
index e18cc65..7f3bdac 100644
--- a/src_testbed/ui.rs
+++ b/src_testbed/ui.rs
@@ -10,7 +10,6 @@ use crate::testbed::{
 };
 
 use crate::PhysicsState;
-use bevy_egui::egui::WidgetType::CollapsingHeader;
 use bevy_egui::egui::{Slider, Ui};
 use bevy_egui::{egui, EguiContexts};
 use rapier::dynamics::IntegrationParameters;
-- 
cgit 


From 7375a691e232bb59033980dc09c7179bc16e377f Mon Sep 17 00:00:00 2001
From: Bruce Mitchener <bruce.mitchener@gmail.com>
Date: Sun, 5 May 2024 16:41:38 +0630
Subject: Fix some typos. (#620)

---
 src_testbed/testbed.rs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'src_testbed')

diff --git a/src_testbed/testbed.rs b/src_testbed/testbed.rs
index f76100d..6ddc949 100644
--- a/src_testbed/testbed.rs
+++ b/src_testbed/testbed.rs
@@ -1,4 +1,4 @@
-#![allow(clippy::bad_bit_mask)] // otherwsie clippy complains because of TestbedStateFlags::NONE which is 0.
+#![allow(clippy::bad_bit_mask)] // otherwise clippy complains because of TestbedStateFlags::NONE which is 0.
 
 use std::env;
 use std::mem;
-- 
cgit 


From 62379de9ecc81fb42b7c2a0d2b8e3e1b02d63f38 Mon Sep 17 00:00:00 2001
From: Sébastien Crozet <developer@crozet.re>
Date: Sat, 25 May 2024 10:36:34 +0200
Subject: feat: add simple inverse-kinematics solver for multibodies (#632)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

* feat: add a simple jacobian-based inverse-kinematics implementation for multibodies

* feat: add 2d inverse kinematics example

* feat: make forward_kinematics auto-fix the root’s degrees of freedom

* feat: add 3d inverse kinematics example

* chore: update changelog

* chore: clippy fixes

* chore: more clippy fixes

* fix tests
---
 src_testbed/lib.rs     |  1 +
 src_testbed/mouse.rs   | 46 ++++++++++++++++++++++++++++++++++++++++++++++
 src_testbed/testbed.rs | 30 +++++++++++++++++++++++++-----
 3 files changed, 72 insertions(+), 5 deletions(-)
 create mode 100644 src_testbed/mouse.rs

(limited to 'src_testbed')

diff --git a/src_testbed/lib.rs b/src_testbed/lib.rs
index cb24d7e..36c9199 100644
--- a/src_testbed/lib.rs
+++ b/src_testbed/lib.rs
@@ -25,6 +25,7 @@ mod camera3d;
 mod debug_render;
 mod graphics;
 pub mod harness;
+mod mouse;
 pub mod objects;
 pub mod physics;
 #[cfg(all(feature = "dim3", feature = "other-backends"))]
diff --git a/src_testbed/mouse.rs b/src_testbed/mouse.rs
new file mode 100644
index 0000000..05b69e2
--- /dev/null
+++ b/src_testbed/mouse.rs
@@ -0,0 +1,46 @@
+use crate::math::Point;
+use bevy::prelude::*;
+use bevy::window::PrimaryWindow;
+
+#[derive(Component)]
+pub struct MainCamera;
+
+#[derive(Default, Copy, Clone, Debug, Resource)]
+pub struct SceneMouse {
+    #[cfg(feature = "dim2")]
+    pub point: Option<Point<f32>>,
+    #[cfg(feature = "dim3")]
+    pub ray: Option<(Point<f32>, crate::math::Vector<f32>)>,
+}
+
+pub fn track_mouse_state(
+    mut scene_mouse: ResMut<SceneMouse>,
+    windows: Query<&Window, With<PrimaryWindow>>,
+    camera: Query<(&GlobalTransform, &Camera), With<MainCamera>>,
+) {
+    if let Ok(window) = windows.get_single() {
+        for (camera_transform, camera) in camera.iter() {
+            if let Some(cursor) = window.cursor_position() {
+                let ndc_cursor = ((cursor / Vec2::new(window.width(), window.height()) * 2.0)
+                    - Vec2::ONE)
+                    * Vec2::new(1.0, -1.0);
+                let ndc_to_world =
+                    camera_transform.compute_matrix() * camera.projection_matrix().inverse();
+                let ray_pt1 =
+                    ndc_to_world.project_point3(Vec3::new(ndc_cursor.x, ndc_cursor.y, -1.0));
+
+                #[cfg(feature = "dim2")]
+                {
+                    scene_mouse.point = Some(Point::new(ray_pt1.x, ray_pt1.y));
+                }
+                #[cfg(feature = "dim3")]
+                {
+                    let ray_pt2 =
+                        ndc_to_world.project_point3(Vec3::new(ndc_cursor.x, ndc_cursor.y, 1.0));
+                    let ray_dir = ray_pt2 - ray_pt1;
+                    scene_mouse.ray = Some((na::Vector3::from(ray_pt1).into(), ray_dir.into()));
+                }
+            }
+        }
+    }
+}
diff --git a/src_testbed/testbed.rs b/src_testbed/testbed.rs
index 6ddc949..836fc1f 100644
--- a/src_testbed/testbed.rs
+++ b/src_testbed/testbed.rs
@@ -9,8 +9,8 @@ use bevy::prelude::*;
 use crate::debug_render::{DebugRenderPipelineResource, RapierDebugRenderPlugin};
 use crate::physics::{DeserializedPhysicsSnapshot, PhysicsEvents, PhysicsSnapshot, PhysicsState};
 use crate::plugin::TestbedPlugin;
-use crate::ui;
 use crate::{graphics::GraphicsManager, harness::RunState};
+use crate::{mouse, ui};
 
 use na::{self, Point2, Point3, Vector3};
 #[cfg(feature = "dim3")]
@@ -135,7 +135,7 @@ pub struct TestbedState {
     pub solver_type: RapierSolverType,
     pub physx_use_two_friction_directions: bool,
     pub snapshot: Option<PhysicsSnapshot>,
-    nsteps: usize,
+    pub nsteps: usize,
     camera_locked: bool, // Used so that the camera can remain the same before and after we change backend or press the restart button.
 }
 
@@ -161,6 +161,7 @@ pub struct TestbedGraphics<'a, 'b, 'c, 'd, 'e, 'f> {
     camera_transform: GlobalTransform,
     camera: &'a mut OrbitCamera,
     keys: &'a ButtonInput<KeyCode>,
+    mouse: &'a SceneMouse,
 }
 
 pub struct Testbed<'a, 'b, 'c, 'd, 'e, 'f> {
@@ -400,6 +401,7 @@ impl TestbedApp {
                     brightness: 0.3,
                     ..Default::default()
                 })
+                .init_resource::<mouse::SceneMouse>()
                 .add_plugins(DefaultPlugins.set(window_plugin))
                 .add_plugins(OrbitCameraPlugin)
                 .add_plugins(WireframePlugin)
@@ -419,7 +421,9 @@ impl TestbedApp {
                 .insert_resource(self.builders)
                 .insert_non_send_resource(self.plugins)
                 .add_systems(Update, update_testbed)
-                .add_systems(Update, egui_focus);
+                .add_systems(Update, egui_focus)
+                .add_systems(Update, track_mouse_state);
+